#include "stm32g4xx_hal.h"
#include <stdint.h>

#define CONSTANTS_ONE_G 9.79

extern volatile float twoKp;			
extern volatile float twoKi;			
extern volatile float q0, q1, q2, q3;

float invSqrt(float x);
void MahonyUpdate(float gx, float gy, float gz, float ax, float ay, float az);
